/* Purpose: Send a raw value to the actuator
  Orientation Examples
 Send PWM to actuator 0: force actuator to close finger
 Send PWM to actuator 255: force actuator to open finger
 
 Scaled values 0 to 100
 Encoder position at 0: finger closed
 Encoder position at 100: finger open
 */
#include <Encoder.h>
#include <PID_v1.h>
Encoder actuator(18, 19); // 18 is red, 19 is black, tied to interrupt pins on MEGA

int ACT1 = 9; //pin 9 for actuator 1
void setup(){


  //TCCR3B = TCCR3B & 0b1111000 | 0x01; // 5 is on timer 3
  TCCR2B = TCCR2B & 0b1111000 | 0x01;

  //calibrate end points of claw range of motion, 
  //grab encoder values at these boundary points


}

void loop() {

  analogWrite(ACT1,250); //test value no force is 127

}

